1. Target Tracking Spotlight (TTS) Maureen Desi Joel Douglass Rajiv Iyer Dennis Trimarchi Group 6

2. Introduction What:Target illumination system that controls a spotlight which is mounted on a stationary or moving object. Why:Accuracy, Economic Savings Who:Law Enforcement, Entertainment Industry

3. Project Goal & Objectives Objective:Design a system to control a spotlight mounted on the pan-tilt platform so that it can follow and illuminate a moving target. Goal: Successfully track and illuminate a moving target

4. Original Design Specifications DescriptionValue Grid Length5 ft Grid Width5 ft Pan-Tilt Height (above grid) 5 ft Spotlight Maximum Weight 2.26 kg (5 lbs) Spotlight Diameter6 in Maximum Overshoot5 % (0.3 in) Pan Range of Motion± 27 ˚ Tilt Range of Motion± 27 ˚ Pan Speed1.88 rad/s (10 ft/s) Tilt Speed1.88 rad/s (10 ft/s) Maximum Receiver Range 2.15 m (7.07 ft)

5. Overall Design Approach Identify Part Specifications Simulation Order Parts System Construction and Programming Research Sensors System Construction Data Acquisition Program Simulation & Testing Testing (Parameter Identification) Phase I & Phase II Phase III Control Order Parts

6. Sensor System  Research & Order Parts  System Construction  Data Acquisition Program  Simulation &Testing

7. Research & Order Parts  Devantech SRF-04 Ultrasonic Ranger   Voltage: 5v only required   Current: 30mA Typ. 50mA Max.   Frequency: 40KHz   Max Range: 3 m   Min Range : 3 cm   Sensitivity: Detect a 3cm diameter stick at > 2 m   Echo Pulse: Positive TTL level signal, width proportional to range.   Small Size: 43mm x 20mm x 17mm

8. Research & Order Parts  Devantech SRF-04 Ultrasonic Ranger

9. System Construction Sensor Pair PIC ARCS Trigger Echo 8 bit Timer Address Bits

10. Data Acquisition Program

12. R1 R2

13. Data Acquisition Program

14. Simulation & Testing ValueDistance (ft) 230.5 411 581.5 792 922.5 1083 1243.5 1444 1604.5 1805

15. Simulation & Testing R1 R2 * Radius of Target is added to R1 and R2 x y

16. Control System  Order Parts  Simulation  System Construction & Programming  Testing  Phase I & II

17. Order Parts  Verified selected motors met specifications  Ran non-linear simulations to view torque and speed requirements  Compared data of different sized motors  Chose the best parts and placed the order

18. Option 1 Option 2 Option 1 Option 2

19. Simulation  Linearization of Dynamic Model  Experiment with Design Methods  Choose Simple PID Controller  Non-Linear Simulation of Dynamic Model

20. Motor 1 Motor 2 Motor 1 Motor 2

21. Linear vs. Non-linear

22. Outer Block Diagram

23. Demonstration Cases Block Diagram

24. Point to Point Case Block Diagram

25. Controller Block Diagram

26. Physical System Performance: Step Response

27. Physical System Performance: Sine Tracking

28. Demonstration

29. Specification Comparison DescriptionDesiredAchieved Grid Length5 ft Grid Height5 ft Pan-Tilt Height (above grid) 5 ft4.25 ft Spotlight Maximum Weight 2.26 kg (5 lbs).1008 kg Spotlight Diameter6 in Maximum Overshoot5 %2 % Pan Range of Motion± 27 ˚± 30˚ Tilt Range of Motion± 27 ˚± 30˚ Pan Speed1.88 rad/s (10 ft/s) Tilt Speed1.88 rad/s (10 ft/s) Maximum Receiver Range 2.15 m (7.07 ft)

30. Recommendations  Implement a Low Pass Filter  Use Trajectory Estimation Algorithm  Incorporate SRF04 Pairs  Use Higher Intensity Spotlight